Feedback-Modulated Harmonic Policies for Quadruped Locomotion

arXiv:2609.17946 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

Sources

• An Open-Loop Baseline for Reinforcement Learning Locomotion Tasks
• Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
• Sim-to-Real: Learning Agile Locomotion For Quadruped Robots
• Evolution Strategies as a Scalable Alternative to Reinforcement Learning

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